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The tube numerical control (NC) bending process is a much complex physical process with multifactors coupling interactive effects. The mandrel is the key to improve forming quality and to enhance forming limit. In this study, based on the platform of ABAQUS/Explicit, a 3D elastic-plastic finite element model of NC bending process of 2169 (0Cr21Ni6Mn9N) stainless steel tube was established, key technological problems were solved, and its reliability was validated. Then, simulation and analysis of the processes were carried out, and the influence laws of mandrel types and mandrel parameters on cross-section quality were obtained. The results show that the wall thinning or cross section deformation is serious at the middle part and small in the vicinity of the bending plane or initial bending plane; the wall thinning degree increases or the cross section deformation degree decreases with the increase of mandrel diameter or mandrel extension length; the effect of bulb mandrel on the cross section quality is more significant than that of cylinder mandrel. And the reasonable mandrel types and mandrel parameters are chosen for the 2169 high-pressure hydraulic tube with small diameter. The results may lead to better understanding of mandrel role in the improvement of forming quality and forming limit in the NC bending process.